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2022 Chinese automation Congress, CAC 2022

作者： Sun, Wei Huo, Ju Li, You Xue, Muyao Zhou, JianBao Harbin Institute of Technology School of Electrical Engineering and Automation Harbin China Shanghai Space Propulsion Technology Research Institute Shanghai China Harbin Nuoxin University of Technology Measurement and Control Technology Co. Ltd. Harbin China

ISBN: (纸本)9781665465335

In the calibration process of multi-camera system with large field of vie23, aiming at the problem of self occlusion in the plane calibration method and the problem of low calibration accuracy of one-dimensional calibration methods, a calibration method of multi-camera system based on the combination of plane target and one-dimensional target is proposed. Firstly, a mathematical model of multi-camera calibration is established with pin-hole model and rigid body transformation theory;the internal parameters and distortion coefficients of each camera are calibrated by two-dimensional plane target;on this basis, analyze the uncertainty of imaging error of circular feature points, cost function of random sample consensus algorithm(RANSAC) is improved. Using the camera imaging model, the essential matrix between cameras is estimated, and the initial value of camera external parameters is decomposed and determined;lastly, multiple nonlinear optimization algorithms are used to refine and obtain the camera matrix, The simulation and actual experimental results show that the multi camera system combination calibration method proposed in this paper can realize the parameter calibration of four camera measurement system, and the measurement space is 2000mm×2000mm×2000mm, the 3D reconstruction error is less than 0.15mm. Compared with the traditional calibration method, it has more accurate calibration accuracy. © 2022 IEEE.

关键词： Calibration

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CMAC-Based Sliding-Mode control for Large-Scale Fuzzy Descriptor Systems

CMAC-Based Sliding-Mode Control for Large-Scale Fuzzy Descri...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Zhong, Zhixiong Shao, Zhenghua Huan, Zhijie Wang, Xingyi Minjiang University Key Laboratory of Information Processing and Intelligent Control Fuzhou350121 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China

ISBN: (纸本)9781665481090

This paper addresses the problem of sliding-mode control for large-scale fuzzy descriptor systems subject to unknown uncertainties. First, a CMAC neural network is used to approximate the unknown uncertainties, and the CMAC-based sliding-mode controller is proposed. Then, a compensation technique is employed to eliminate the influence on the approximation error stemmed from CMAC model. We use the gradient-descent method to online tune the parameters of CMAC and the Lyapunov function is introduced to ensure the stability of the closed-loop control system and the CMAC's convergence. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of multi-autonomous underwater vehicles (AUVs). © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Simulation and Analysis of PMSM with Segmented Halbach Magnet Array

Simulation and Analysis of PMSM with Segmented Halbach Magne...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Ge, Lijia Yan, Liang Xiang, Pengjie Zhou, Yuchen Aboelhassan, Ahmed School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China Electrical and Control Engineering Department College of Engineering and Technology Arab Academy for Science Technology and Maritime Transport Alexandria1029 Egypt Key Laboratory of More Electric Aircraft Technology of Zhejiang Province University of Nottingham Ningbo China Ningbo315100 China

ISBN: (纸本)9789811966125

This paper investigates the relationship between the output performance of PMSM and the number of the Halbach magnetic segments. The static magnetic simulation models of the Halbach with three to seven segments are established, and the spatial harmonic distribution of these magnetic arrays under the static magnetic field is analyzed. The simulation date indicates that the five-segment configuration has the best suppression effect on the 5th harmonic, and the seven-segment Halbach magnet array has the maximum fundamental amplitude of magnetic flux density. Then, the transient magnetic simulation models of these magnetic configuration are established by FEM, and the dynamic performance in PMSM is simulated and analyzed. By comparing the simulation data, it indicates that the electromagnetic output performance of five-segment magnetic configuration is the best. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Harmonic analysis

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Sora for foundation robots with parallel intelligence:three world models,three robotic systems

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Frontiers of Information technology & Electronic Engineering 2024年第7期25卷 917-923页

作者： Lili FAN Chao GUO Yonglin TIAN Hui ZHANG Jun ZHANG Fei-Yue WANG School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing 100044China School of Electrical Engineering Wuhan UniversityWuhan 430072China

This paper outlines the initial steps and basic framework for developing foundation/infrastructure robots/robotics based on foundation models and parallel intelligence,as well as the potential applications of new art... 详细信息

关键词： artificial foundation intelligence

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Conversion control for Remote Sensing Stable Platforms for Transient and Continuous Disturbances 3

Conversion Control for Remote Sensing Stable Platforms for T...

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2023 3rd International Conference on Computer, Remote Sensing and Aerospace, CRSA 2023

作者： Zhou, Jiaxing Qixuan, Huang Chen, Xiang Yao, Youxin School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361000 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen361000 China Shanghai Satellite Engineering Institute Shanghai201109 China

An airborne electro-optical stabilized platform is a device situated between the aircraft and the imaging components, which serves to isolate external disturbances and maintain imaging axis stability for the imaging components. In light of the impact of transient and continuous attitude changes of the aircraft on the axis-stabilized imaging in visible light unmanned aerial vehicle (UAV) remote sensing missions, a control method combining a proportional-integral (PI) controller and a backpropagation neural network (BPNN) PID conversion control was devised. The specific procedure involved the following steps: firstly, the transfer mechanism of external disturbances between platforms was derived using the state transition matrix through mechanistic modelling. Secondly, the multi-rigid body dynamics equations of the airborne electro-optical platform were established based on Newton's laws of motion and Euler's laws. Subsequently, the relationship between the stable platform rotation angle and external disturbances was obtained using Laplace transformation, and an analysis was conducted on the effects of different disturbances on the stable platform. Lastly, conversion control was incorporated into the system model for simulation analysis. The simulation results demonstrated that transient disturbances could be effectively and rapidly isolated by the PI controller, while continuous disturbances exhibited improved performance when handled by the neural network PID controller, thus validating the efficacy of the designed conversion control method. © Published under licence by IOP Publishing Ltd.

关键词： Three term control systems

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Magnetically controllable Liquid Metal Droplet Robots 16th

Magnetically Controllable Liquid Metal Droplet Robots

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Zhao, Peiran Yan, Liang Gao, Xiaoshan Bu, Suwan School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China Tianmushan Laboratory Hangzhou310023 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789819965007

Magnetically actuated miniature robots exhibit great potential in lab-on-a-chip and biomedical applications. However, the existing soft robots made from elastomers have limited functionality and are unable to operate in very narrow environments such as channels much smaller than their size due to their limited deformability. Herein, a magnetically actuated millirobot based on liquid metal is proposed to address the above problems. The droplet robot is fabricated by mixing iron particles and a gallium-indium droplet. The static analysis of the robot is conducted, and the dynamic equation is established. The control strategy is analyzed, the experimental setup is designed, and related experiments are conducted. In the experiments, the droplet robot demonstrates remarkable flexibility and softness when navigating freely in narrow channels, allowing it to easily pass through confined spaces much smaller than its size. The demonstrated capabilities of the droplet present a promising potential for its application in lab-on-a-chip or biomedical devices. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Liquid metals

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Input and state constrained inverse optimal control with application to power networks

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IFAC-PapersOnLine 2023年第2期56卷 5451-5456页

作者： Taouba Kaouther Jouini Zhiyong Sun Venkatraman Renganathan Veit Hagenmeyer Institute of Automation and Applied Informatics (IAI) at Karlsruhe Institute of Technology Germany Department of Electrical Engineering Eindhoven University of Technology Netherlands Department of Automatic Control LTH Lund University Sweden

We study input and state constrained inverse optimal control problems starting from a stabilizing controller with a control Lyapunov function, where the goal is to make the controller an explicit solution of the resulting constrained optimal control problem. For an appropriate cost design and initial states for which a sublevel set of the Lyapunov function is contained in the state constraint set and the initial input lies on an ellipsoid inside the input constraint set, we show that the stabilizing controller solves the constrained optimal control problem. Compared to the state-of-the-art, we avoid solving nonlinear optimization problems evaluated pointwise, i.e., for every state, or in a repetitive fashion, i.e., at each time step. We apply our theoretical results to study the angular droop control studied in (Jouini et al., 2022) of an inverter-based power network. For this, we accommodate the constraints on the angle and power generation and exemplify our approach through a two-inverter case study.

关键词： Optimal control Non-Linear control Systems Networked Systems Power and Energy Systems

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Dynamic Object Tracking Based on Triplet Relationship Guided Sampling Consensus Algorithm 3

Dynamic Object Tracking Based on Triplet Relationship Guided...

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2023 3rd International Conference on Computer, Remote Sensing and Aerospace, CRSA 2023

作者： Zhou, Jiaxing Yao, Youxin Chen, Xiang Guo, Hanlin Huang, Qixuan School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen361000 China Shanghai Satellite Engineering Institute Shanghai201109 China

Compared with the traditional methods based on the prediction of moving object trajectory, the method based on image registration has the advantage of not relying on the object motion equation to track the object. However, in the case of a large number of outliers, the image matching method has the defects of inadequate filtering of outliers or erroneous filtering of incomers due to the limitations of spatial constraints of feature matching pairs, which will make the tracking of flying objects inaccurate or impossible. During the flight, the object may be in a similar background and the image shooting angle is different, which makes the object imaging angle change, resulting in a large number of outlier interference. Because of the above situation, this paper adopted an improved TRESAC algorithm based on RANSAC, which used a feature matching method based on a triplet relationship to effectively filter outliers and then adopted an initial data subset selection strategy to increase its robustness. Experimental results show that the TRESAC algorithm can filter outliers quickly and accurately, and the object is still tracked effectively under the condition of similar background and pose change. © Published under licence by IOP Publishing Ltd.

关键词： Statistics

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Distributed Formation Tracking control and Collision Avoidance with Formation Transformation for Fixed-Wing UAV Swarm 43

Distributed Formation Tracking Control and Collision Avoidan...

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43rd Chinese control Conference, CCC 2024

作者： Yao, Bingchang Liu, Yishi Liu, Yumeng Dong, Xiwang Tan, Qingke Lv, Rui Liang, Zhuo Beihang University Beijing100191 China Institute of Software Chinese Academy of Sciences China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China China Academy of Launch Vehicle Technology China

ISBN: (纸本)9789887581581

This article proposes a distributed consensus-based formation tracking and dynamic obstacle avoidance method for fixed wing unmanned aerial vehicles (UAVs). The tracking target moves along a pre-set geometric path, while other UAVs automatically track the target to form various distributed formation shapes and always perform dynamic collision avoidance. The fixed wing UAVs in this article form a distributed formation based on information exchange between neighbors, and further the formation process is improved by incorporating position allocation into the formation transformation. Firstly, the fixed wing UAV is modeled and simplified. Secondly, a basic formation control protocol is designed based on consensus strategy, and a tracking target feedback is added on it. Then, an anti-collision controller and a variable formation position allocation strategy are designed to avoid the collision. Finally, the effectiveness of the presented method is verified through numerical simulations. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Unmanned aerial vehicles (UAV)

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Multi-target Tracking with Random Finite Set in Decentralized Large-scale Sensor Networks

Multi-target Tracking with Random Finite Set in Decentralize...

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2022 IEEE International Conference on Unmanned Systems, ICUS 2022

作者： Su, Lingfei Dong, Xiwang Hua, Yongzhao Yu, Jianglong Ren, Zhang School of Automation Science and Electrical Engineering Beihang University Science and Technology On Aircraft Control Laboratory Beijing China Institute of Artificial Intelligence Beihang University Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

This paper presents the multi-target tracking (MTT) problem in decentralized large-scale sensor networks. A novel random finite set (RFS)-based framework is designed, including an improved Probability Hypothesis Density filter with Gaussian Mixture (GM-PHD) representation, and an improved Generalized Covariance Intersection (GCI) fusion algorithm. For the local GM-PHD filter, the intensity of new-born targets is initialized by pre-segmenting the measurement set to address the uncertainty of measurement origin and the computational burden of large-scale measurements. Then, a sensor node-dependent clutter model is established to deal with the cardinality overestimation problem brought by the decentralized structure. For the proposed fusion algorithm, i.e., fusing the posterior PHDs generated by the proposed GM-PHD filters in a distributed manner, it is based on the idea of compensating the severe missed detection problem of GCI in the case of large-scale fusing resources by arithmetic average (AA) fusion. In this way, GCI and AA can be fully utilized to guarantee the estimation accuracy for common targets and, respectively, the robustness for exclusive targets. A simulation of a decentralized large-scale network demonstrates the effectiveness of the proposed framework with respect to estimation accuracy and computational cost. © 2022 IEEE.

关键词： Sensor nodes

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